Tuesday, February 24, 2009

Pipelines are used extensively to carry natural gas to destinationsthroughout the world. Large high-pressure transmission lines mayextend hundreds of miles cross country while smaller,lower-pressure distribution lines are used to deliver gas to homesand businesses. In the United States, there are more than1.1 million miles of natural gas pipelines.http://www.swri.org/3pubs/ttoday/Winter07/Pipelines.htm

Robot for Working in Small-Diameter Piping

TOKYO--Toshiba Corporation today announced that it hasdeveloped the world's first miniature inspection robot able tooperate inside piping with a diameter as small as one inch (25mm).The robot can undertake visual inspections and identify andcollect foreign objects. It is ideal for industrial applications insuch locations as electric power generation plants.http://www.toshiba.co.jp/about/press/1997_02/pr2101.htm

A Hybrid Model-Based Vision System for AutonomousNavigation of a Sewer Inspection Robot

The research project MAKRO is being conducted by fourpartners from research and industry and aims at developingan autonomous robot for surveying of modern concrete sewers.The task of such a robot will be to collect a video record aboutsewer conditions. The multi-segment robot consists of a mobilebase platform, and is equipped with a set of sensors, a lightsource, a laser crosshair projector and a camera, it must beable to drive autonomously through a long system of sewer pipes.An on-line Hybrid Model Vision-Based System has beendeveloped at GMD to navigate the MAKRO robot when it movesalong sewer pipes, approaches manhole junction areas, andproceeds to enter the next pipe. The Vision System comprisestwo different algorithms. The first one, called the orientationalgorithm, assesses the robot’s relative orientation with respectto the pipe axis, in order to guide the robot through a pipe.The second one, called the 3D interpretation algorithm,recognizes the end of the current pipe at a manhole entranceand locates the next pipe opening to move into when theMAKRO robot is positioned before a manhole area of the sewer.http://www.ercim.org/publication/Ercim_News/enw42/kolesnik.html

Pipe crawler - robots for video and laser inspection

These flexible robots are well suited for carrying out inspectionson pipe systems, especially those that have a lot of bends, verticalsections and pipe branches.These robots are mainly used in the

Monday, February 23, 2009

HELI-PIPEHELI-PIPE family consist of four different types of robots for in-pipeinspection. The robots has two parts articulated with a universal joint.One part (the stator) is guided along the pipe by a set of wheelsmoving parallel to the axis of the pipe, while the other part (the rotor)is forced to follow an helical motion thanks to tilted wheels rotatingabout the axis of the pipe. A single motor (with gear reducer built-in)is placed between the two bodies to produce the motion (no directactuated wheels). All the wheels are mounted on a suspension toaccommodate for changing tube diameter and curves in the pipe.The robots are autonomous and carries their own batteries andradio links.http://www.ulb.ac.be/scmero/robotics.html#pipe2

The most recent design, MOCASIn 2, is able to navigatea complicated course of piping, complete with 90-degree turnsand vertical climbs. The segmented robot has the look ofa cyber-inchworm and uses pneumatics to force padded"feet" against the pipe walls as it extends and contracts itsbody along the pipe course."The use of pneumatics for movement is an important factorbecause sometimes there are explosive gases present in buildingsthat have collapsed," says Grant. "Electricity would havethe potential for igniting these gases so we designed the robot touse compressed air instead. This gives it added portability, as well.The robot can run off air tanks when there is no electricity to runan air compressor, and it is designed so that it breaks down intocomponents that can easily be carried in backpacks to remotedisaster sites."http://www.engr.ncsu.edu/news/news_articles/pipecrawler.html

Site Inspection of Gas Main by Helical Tomography

Invocon co-developed a system to inspect the internal and externalphysical condition of subsurface pipe used for natural gas distribution.Designed to measure the wall thickness of the pipe, the systemformulated a tomogram image of the cross-sectional area of the pipe.http://www.invocon.com/tech/sight.html

Friday, February 20, 2009

LMD182003A, 55V H-BridgeGeneral DescriptionThe LMD18200 is a 3A H-Bridge designed for motion controlapplications. The device is built using a multi-technologyprocess which combines bipolar and CMOS control circuitrywith DMOS power devices on the same monolithic structure.Ideal for driving DC and stepper motors; the LMD18200accommodates peak output currents up to 6A. An innovativecircuit which facilitates low-loss sensing of the output currenthas been implemented.Features- Delivers up to 3A continuous output- Operates at supply voltages up to 55V- Low RDS(ON) typically 0.3Ω per switch- TTL and CMOS compatible inputs- No “shoot-through” current- Thermal warning flag output at 145°C- Thermal shutdown (outputs off) at 170°C- Internal clamp diodes- Shorted load protection- Internal charge pump with external bootstrap capability

Wednesday, February 18, 2009

Since the I.C. integrates a full H-Bridge in a singlepackage it is idealy suited for controlling DC motors.When used for DC motor control it performsthe power stage required for both speed and directioncontrol. The device can be combined witha current regulator like the L6506 to implement atransconductance amplifier for speed control, asshown in figure. In this particular configurationonly half of the L6506 is used and the other halfof the device may be used to control a secondmotorThe L6506 senses the voltage across the senseresistor RS to monitor the motor current: it comparesthe sensed voltage both to control thespeed and during the brake of the motor.

L6203DESCRIPTIONThe I.C. is a full bridge driver for motor control applicationsrealized in Multipower-BCD technologywhich combines isolated DMOS power transistorswith CMOS and Bipolar circuits on the same chip.By using mixed technology it has been possible tooptimize the logic circuitry and the power stage toachieve the best possible performance. TheDMOS output transistors can operate at supplyvoltages up to 42V and efficiently at high switchingspeeds. All the logic inputs are TTL, CMOSand C compatible. Each channel (half-bridge) ofthe device is controlled by a separate logic input,while a common enable controls both channels.The I.C. is mounted in three different packages.

Monday, February 16, 2009

L298 FULL-BRIDGE DRIVERDESCRIPTIONThe L298 is an integrated monolithic circuit in a 15-lead Multiwatt and PowerSO20 packages. It is ahigh voltage, high current dual full-bridge driver designedto accept standard TTL logic levels and driveinductive loads such as relays, solenoids, DC andstepping motors. Two enable inputs are provided toenable or disable the device independently of the inputsignals. The emitters of the lower transistors ofeach bridge are connected together and the correspondingexternal terminal can be used for the connectionof an external sensing resistor. An additionalsupply input is provided so that the logic works at alower voltage.

Saturday, February 14, 2009

DESCRIPTIONThe Device is a monolithic integrated high voltage,high current four channel driver designed toaccept standard DTL or TTL logic levels and driveinductive loads (such as relays solenoides, DCand stepping motors) and switching power transistors.To simplify use as two bridges each pair of channelsis equipped with an enable input. A separatesupply input is provided for the logic, allowing operationat a lower voltage and internal clamp diodesare included.This device is suitable for use in switching applicationsat frequencies up to 5 kHz.

Thursday, February 12, 2009

B.E.A.M –botThe trick is to design a circuit that detects whenever the capacitoris fully charged. There are a lot of solutions that can be found onthe Internet. A nice idea is to use the voltage drop across a flickerLED as it depends on the amount of background light. It's 2.4Vbut slightly changes in darkness. The result is a creature which issensitive to light, at least that's the idea.http://www.noortje.net/electronica/beam_EN.shtmlHRB-001 Micro BEAM BotThis time I will be making a micro BEAM robot out of some junkand a few components. BEAM stands for Biology, Electronics,Aesthetics, and Mechanics. What differentiates BEAM robots fromthe rest is the fact that BEAM robots do not rely on microcontrollersor any type of programming to function. Instead of preprogrammeddigital logic they function by following the simple analog logicof their components.http://www.hyyppamedia.com/View/Projects/23Build The Basic RobotThis style of robot is quite popular with BEAM builders, they are generallyonly used as a proof of concept type build with the parts being scavengedfor other bots after a short time.The reason that I decided to build one is because I want a robot base thatwould make sensor such as encoding wheels unusable and force myselfto find some other way of accurate mapping. Why? because if you useencoders, it only takes somebody to nudge the robot or for a wheel to slipfor the mapping to become unstable.http://www.societyofrobots.com/member_tutorials/node/50

This keeps things cheap, and avoids a lot of trips to parts stores;virtually all the parts required to make a BEAM robot can be foundin broken electronics (ovens, walkman’s, CD players, VCRs, pagers…).

analog electronics. It seemed that a PIC would work very wellfor this kind of project. Very little extra circuitry is needed todo both forword and backword walking sequences along witha few other tricks.http://mondo-technology.com/insect.html

Symet BEAM Robot

Symet is the first BEAM robot I ever completed, becoming active onApril 3, 2004. The idea and plans come from the bookJunkbots, Bugbots, & Bots on Wheels, by Dave Hrynkiw andMark W. Tilden. Its a solar powered robot that scoots along onthe tip of a single motor, using an FLED solarengine to storeand dump energy. When it hits an obstacle, it topples tothe side and, because of the orientation of the motor shaft,it changes direction. No smarts, but lots of fun. I especiallyenjoyed this guy because he was easy to get working, unlikethe other robot I tried to build first, but proved to be toocomplicated for my first shot.http://www.bufbotics.org/buf/symet/index.html

Sunday, February 08, 2009

The Incredible Walking MachineThis robot is a solar bicore walker that does not use a "solarengine" The circuit and motors are powered directlyfrom the 30 or so milliamps (in full sun) provided by a 37mm x 66mmsolar panel. On July 8, 2001 he took his first real world walksshowing the ability to walk over rough terrain including throughgravel, sand, dirt and some grass. WOW! With his feelers nowinstalled and his new wide traction rear legs, I am verypleased with his overall performance.moreGreen MachineAKA "My B.I.O.-BUG Hack"

The Plan: Rip the Hasbro toy bug guts out of a B.I.O.-Bug and turnhim into a true green BEAM machine. I want him to be solarpowered and able to walk continuously when in direct sun.The circuits should be analog, BEAM, and as simple as possiblewhile still allowing robust enough behavior to give hima chance for autonomous survival.

The SunEater_V behaviour is based on three rules:-If no feeler switches are closed, the motors will obey the `eyes'.SunEater_V moves towards the best light, while trying to avoidshadow patches.- If one of the feelers touches an obstacle, SunEater_V "followsthe wall" in the direction of the better light. Both this and the firstbehaviour are illustrated here. Thanks to the `mechanical memory'- the robot keeps a feeler in contact with an obstacle during evasiveaction - the motion remains deliberate, even if the voltage drops tozero between steps.- With both feeler switches closed, the robot will pushagainst one of them, trying to get free.http://www.xs4all.nl/~sbolt/Other/suneaterV.html

While Full and Berkeley engineering professor Ron Fearing studygeckos' setae, the tiny hairs on its feet, for clues to replicating nature'smiraculous dry adhesive, iRobot has built two gecko-inspired robotswith Full's help. The Mecho-Gecko's three legs are tipped witha pressure-sensitive adhesive (think Post-Its) to mimic theunroll-and-peel-off manner in which geckos climb, while the Bull-Geckouses the same adhesive on bulldozer-like treads instead of legs.The next design will be a legged version with a flexible spine.

RIMINIDevelopment of New and Novel Low Cost RobotInspection Methods for In-Service Inspection of NuclearInstallations

The robot uses a common principle to climb; which is to createa negative force to stick the robot to the wall. This is achieved using3 sliding suction cups, with the suction created by centrifugal pumpsdriven by high speed air motors. The key advantage of thistechnique is that expelling water creates a thrust force when thesystem is not touching the wall. The force pushes the robottowards the wall till the suction cup becomes attached to the wall.http://www.twi.co.uk/content/rimini_final_paper.html

DynaClimber

Recent biological findings indicate that a number of fast climbinganimals (in particular the gecko and cockroach) climb in a dynamicallysimilar manner. Despite their different morphologies, limb number,and attachment mechanisms both of these animals undulate laterallywith significant in pulling forces. These findings have prompteda proposed template for dyanmic vertical climbing.http://www.eng.fsu.edu/~clarkj/stride/climbing.htm

C-Bot Wall Climbing Bionic RobotC-Bot Wall Climbing Bionic Robot By Niklas GallerDo you ever imagine that someday, you can performs a wallclimbing with a help from robot or some device that can make youstick to the wall. I never imagine that before. Maybe with the C-Botdesign by Niklas Galler we can start thinking to perform our own“climbing stunt”. C-Bot a bionic wall climbing concept thebasically used the “gecko” innovative foot climbing design asa template to climb wall without any artificial adhesion.

We introduce a wall climbing robot system "LARVA" for visualinspection of bridges using an impellent force adhesion method.This adhesion mechanism consists of an impeller and flexiblesuction seals which provide sufficient adhesion forces for supportingits body on the surface by keeping the air pressure inside the foot ofthe robot less than a critical safe value. A comprehensive study isperformed on the dynamic fluid modeling of the adhesion mechanism.In addition, the stable locomotion on the vertical wall and an adhesioncontrol method for a wall climbing robot are derived. The controller,though it is simple, provides a useful framework for controlling a wallclimbing robot.http://mecha.skku.ac.kr/board/list.php?bbs_id=Robotics_02

MRWALLSPECT-III

RWALLSPECT III can walk in planes as well as climb wallswith suction pad. Since the robot is expected to be able tomove from wall to wall, wall to plane including negotiationingconvex or concave the robot. By performing intuitive andgeometrical analysis, critical aspects of design such as jointranges, design of ankles, and location of actuators are appliedto the robot. And also the robot is designed to carry an ultrasonicNDT tool for inspection of the large suface of industrial utilities.http://mecha.skku.ac.kr/board/list.php?bbs_id=Robotics_02

Tuesday, February 03, 2009

Electroadhesive RobotsEnabling wall-climbing robots for security/military,
inspection, and service applications
Electroadhesion offers advantages over other types of technologies
for wall climbing, including robust clamping over a variety of surfaces
(rough or smooth, conductive or insulating), low power, resistance
to dust, and fast, electrically controllable clamping and unclamping
. Thus, electroadhesion lends itself to a variety of wall-climbing
robots. Tracked "tank" type wall-climbing robots, as well as more
biomimetic inchworm-type robots, have been successfully
demonstrated to date using this technology. Other
advantages of electroadhesion include its non-damaging
nature, and lightweight, which is crucial in wall-climbing applications.http://www.sri.com/rd/electroadhesion.html

NINJA-I, -II
Quadruped Wall Climbing Robot "NINJA-I, -II"

NINJA-I (1990-1993), NINJA-II (1994-). It is dangerous to inspect
and perform all the operations on the exterior walls of high rise
buildings and of the land bridges on high speed thoroughfares.
It also requires a great deal of expense in order to install the
needed scaffolding. NINJA is a wall climbing robot developed for
the purpose of automating this kind of operation. Units No. 1 and
2 of both have a height of nearly 1.8 m , a left/right width of
0.5 meters, a thickness of 0.4 meters, and a main body weight of
45 kg. All the legs of NINJA-I, as in Fig. 2, are driven by three
prismatic joint actuators in parallel mechanisms. They are oriented
to the direction of gravity as much as possible at all times, and
manifest th e effectiveness of "coupled drive (a drive method which
plans on making high output performance as a system by
cooperatively utilizing as much as possible all actuators that are
installed)". The feet are compliant to the wall surface while being
oriented at all times in the same direction as the body by a new
parallel movement mechanism which utilizes conduit wires.
The NINJA-II expands the reachable area of this foot mechanism
by inserting articulated joints.moreWall-Climbing Robot Spies at ICRA 2008

Sunday, February 01, 2009

GrasshoppperGrasshoppper "robot" sets new high-jump recordWhile it doesn't exactly boast all that many robot-like characteristics,this grasshopper-inspired bot from the Swiss Federal Institute ofTechnology is apparently enough of one to lay claim to the robothigh-jump record, which it was able to capture handily by jumping27 times its own height. That was done with the aid of a motororiginally designed to power the vibration unit of a pager which,in this case, winds up two metal springs that eventually releaseand spring the 5-centimeter tall bot into the air.more

Jumping robot makes light work of stairs

Kim's team developed an ultra-lightweight version of an old technology:

the pneumatic ram. Powered by compressed air stored in two 2-litreplastic bottles, the ram - an aluminium cylinder - is fired to launchthe robot to the required height.To determine how much compressed air is needed for the jump,an onboard processor first calculates how fast the robot is travelling,using information from its 25-centimetre-diameter wheels. It alsoworks out the distance to the obstacle and its height, usingstereoscopic cameras and ultrasound sensors. The processoruses this information to calculate the jump, then sends a signal toa solenoid valve that squirts high-pressure air into the ram forthe right length of time.http://www.newscientist.com/article/mg19926666.400

“Jollbot” Jumping robots for space exploration

According to a team of engineers at the University of Bath, “jumping isa good way to move over rough terrain, and is considerably easier todesign than walking.” PhysOrg.com reports that this is why they’vedesigned two jumping robots inspired by animals. They think thattheir two new robots, Jollbot and Glumper, will help astronauts to duringfuture space missions. As one researcher said, “the cost perkilogram of launching something into space is very large, so jumpingrobots, which are likely to be light in weight to maximizetheir own performance, are ideally suited from that perspective.”Of course, such robots would also be useful to explore anyother places involving traversing rough terrains such as volcanoes.http://blogs.zdnet.com/emergingtech/?p=626